feat(inputModule): Support to Unity XR Input

README.md

@@ -1,13 +1,17 @@
 # HPTK [![](https://img.shields.io/badge/unity-2019.4%20or%20later-green.svg)](https://unity3d.com/es/get-unity/download/archive) [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://github.com/jorgejgnz/HPTK/blob/master/LICENSE.md) [![version](https://img.shields.io/badge/version-0.4.0-blue)](https://github.com/jorgejgnz/HPTK/releases) [![](https://img.shields.io/twitter/follow/jorgejgnz.svg?label=Follow&style=social)](https://twitter.com/intent/follow?screen_name=jorgejgnz)
 
-Hand Physics Toolkit (HPTK) is a toolkit to build physical hand-driven interactions in a modular and scalable way. Hand physics and hover/touch/grab detection are modules included. This toolkit can be combined with [MRTK-Quest](https://github.com/provencher/MRTK-Quest) for UI interactions. Only Oculus Quest is supported at the moment.
+Hand Physics Toolkit (HPTK) is a toolkit to build physical hand-driven interactions in a modular and scalable way. Platform-independent. Input-independent. This toolkit can be combined with [MRTK-Quest](https://github.com/provencher/MRTK-Quest) for UI interactions.
 
 ## Main features
-- Data model to access hand components and lerp values to compose gestures and trigger actions.
-- State-of-the-art hand physics that can be configured in detail through configuration assets.
-- Hover/Touch/Grab detection with support to interactions involving multiple objects and hands.
-- Code architecture based on isolated modules. Support to custom modules. ([Wiki](https://github.com/jorgejgnz/HPTK/wiki/Custom-modules)).
-- Input abstraction. RelativeSkeletonTracker included to mimic other hands. ([Wiki](https://github.com/jorgejgnz/HPTK/wiki/Modules-overview)).
+- Data model to access hand parts, components or calculated values with very little code.
+- Code architecture based on MVC-like modules. ([Wiki](https://github.com/jorgejgnz/HPTK/wiki/Modules-overview)). Support to custom modules. ([Wiki](https://github.com/jorgejgnz/HPTK/wiki/Custom-modules)).
+- State-of-the-art hand physics. Configurable in detail through configuration assets.
+- Platform-independent. Tested on VR/AR/non-XR applications
+- Input-independent. Use handtracking or controllers.
+- Scale-independent. Valid for any hand size.
+- Define strategies to deal with loss of tracking.
+- Physics-based touch/grab detection.
+- Tracking noise smoothing.
 
 ## Example project
 - You can clone a ready-to-go project at [HPTK-Sample](https://github.com/jorgejgnz/HPTK-Sample).

Runtime/Components/AutomaticHandSetup.cs

@@ -76,6 +76,7 @@ public class AutomaticHandSetup : MonoBehaviour
     public Anchors generateArmatureAnchors = Anchors.None;
     public bool generateMasterOffset = true;
     public bool generateRays = true;
+    public bool cloneMaster = true;
     public bool generateSlave = true;
     public bool generateGhost = true;
 
@@ -84,6 +85,7 @@ public class AutomaticHandSetup : MonoBehaviour
     float gizmoDirSize = 0.2f;
     float gizmoSphereSize = 0.005f;
 
+#if UNITY_EDITOR
     public void Setup()
     {
         // Check errors
@@ -149,6 +151,7 @@ void SetupMasterObjects()
     {
         // CustomHand > Objects > Master
         masterRootObject = BasicHelpers.InstantiateEmptyChild(objects);
+
         masterRootObject.name = "Master." + handType.ToString();
 
         // CustomHand > Objects > Master > (content)
@@ -171,16 +174,44 @@ void SetupMasterObjects()
         }
 
         // Spawn wrist
-        masterWrist = BasicHelpers.InstantiateEmptyChild(masterRootObject, "Wrist");
-        masterWrist.transform.position = wrist.position;
+        if (cloneMaster)
+        {
+            masterWrist = BasicHelpers.InstantiateEmptyChild(masterRootObject);
+            masterWrist.transform.position = wrist.position;
+        }
+        else
+        {
+            masterWrist = wrist.gameObject;
+        }
+
+        masterWrist.name = "Wrist." + handType.ToString();
+
         masterFingersRoot = masterWrist.gameObject;
 
         // Create offset (if needed)
         if (generateMasterOffset)
         {
+            List<Transform> children = new List<Transform>();
+
+            if (!cloneMaster)
+            {    
+                foreach (Transform child in masterWrist.transform)
+                {
+                    children.Add(child);
+                }
+            }
+
             masterWristOffset = BasicHelpers.InstantiateEmptyChild(masterWrist, "Offset");
             masterWristOffset.transform.position = masterWrist.transform.position;
             masterFingersRoot = masterWristOffset;
+
+            if (!cloneMaster)
+            {
+                foreach(Transform child in children)
+                {
+                    child.parent = masterFingersRoot.transform;
+                }
+            }
         }
 
         // Armature wrist anchor
@@ -209,10 +240,17 @@ void SetupMasterObjects()
 
             for (int b = 0; b < _fingers[f].Length; b++)
             {
-                Transform bone = BasicHelpers.InstantiateEmptyChild(masterFingersRoot).transform;
+                Transform bone;
+
+                if (cloneMaster)
+                    bone = BasicHelpers.InstantiateEmptyChild(masterFingersRoot).transform;
+                else
+                    bone = _fingers[f][b];
 
                 if (b==0 && _fingers[f][b].childCount == 0) 
                     bone.name = "Extra.Bone";
+                else if (b == _fingers[f].Length - 1)
+                    bone.name = "Finger" + f + ".Tip";
                 else
                     bone.name = "Finger" + f + ".Bone" + b;
 
@@ -308,7 +346,14 @@ void SetupGhostObjects()
     void SetupProxyHandModule()
     {
         // CustomHand > [Modules] > ProxyHandModule
-        GameObject proxyHandModule = Instantiate(proxyHandModulePrefab, modules.transform.position, modules.transform.rotation);
+        string prefabPath = AssetDatabase.GetAssetPath(proxyHandModulePrefab);
+        Object prefab = AssetDatabase.LoadAssetAtPath(prefabPath, typeof(GameObject));
+
+        GameObject proxyHandModule = PrefabUtility.InstantiatePrefab(prefab) as GameObject;
+
+        proxyHandModule.transform.position = modules.transform.position;
+        proxyHandModule.transform.rotation = modules.transform.rotation;
+
         proxyHandModule.transform.parent = modules.transform;
         proxyHandModule.transform.name = "ProxyHandModule." + handType.ToString();
 
@@ -464,6 +509,17 @@ void SetupMasterHandModel(MasterHandModel handModel, Transform masterWrist, Game
                 fingerModel.name = "Pinky";
                 handModel.pinky = fingerModel;
             }
+            else
+            {
+                fingerModel.name = "Unidentified";
+            }
+
+            for (int b = 0; b < fingerModel.bones.Length; b++)
+            {
+                fingerModel.bones[b].transformRef.name = fingerModel.name + b;
+            }
+
+            fingerModel.fingerTip.name = fingerModel.name + ".Tip";
         }
 
         // Homogeneus order for .fingers
@@ -580,6 +636,17 @@ void SetupSlaveHandModel(SlaveHandModel handModel, Transform slaveWrist)
                 fingerModel.name = "Pinky";
                 handModel.pinky = fingerModel;
             }
+            else
+            {
+                fingerModel.name = "Unidentified";
+            }
+
+            for (int b = 0; b < fingerModel.bones.Length; b++)
+            {
+                fingerModel.bones[b].transformRef.name = fingerModel.name + b;
+            }
+
+            fingerModel.fingerTip.name = fingerModel.name + ".Tip";
 
             // Increase finger counter
             f++;
@@ -609,7 +676,7 @@ void SetupSlaveHandModel(SlaveHandModel handModel, Transform slaveWrist)
                     Debug.LogError("Trying to access a non-existing finger!");
 
                 else if (b > handModel.proxyHand.master.fingers[f].bones.Length - 1)
-                    Debug.LogError("Trying to access a non-existing bone!");
+                    Debug.LogError("Trying to access a non-existing bone! Bone " + b + " is unreachable as fingers[" + f + "].bones.Length = " + handModel.proxyHand.master.fingers[f].bones.Length);
 
                 else if (handModel.proxyHand.master.fingers[f] != null && handModel.proxyHand.master.fingers[f].bones[b] != null)
                     slaveBone.masterBone = handModel.proxyHand.master.fingers[f].bones[b] as MasterBoneModel;
@@ -705,6 +772,17 @@ void SetupGhostHandModel(HandModel handModel, Transform ghostWrist)
                 fingerModel.name = "Pinky";
                 handModel.pinky = fingerModel;
             }
+            else
+            {
+                fingerModel.name = "Unidentified";
+            }
+
+            for (int b = 0; b < fingerModel.bones.Length; b++)
+            {
+                fingerModel.bones[b].transformRef.name = fingerModel.name + b;
+            }
+
+            fingerModel.fingerTip.name = fingerModel.name + ".Tip";
         }
 
         // Homogeneus order for .fingers
@@ -966,6 +1044,12 @@ bool AllSystemsNominal()
             return false;
         }
 
+        if (!proxyHandModulePrefab)
+        {
+            Debug.LogError("Proxy hand module prefab is required!");
+            return false;
+        }
+
         return true;
     }
 
@@ -1386,7 +1470,6 @@ private void OnDrawGizmos()
                 thumbDir = new Vector3(0.0f, 0.0f, gizmoDirSize);
             }
 
-# if UNITY_EDITOR
             // Draw finger direction
             Handles.color = Color.blue;
             Handles.Label(wrist.position + fingerDir, "Fingers");
@@ -1419,9 +1502,10 @@ private void OnDrawGizmos()
                 gizmoDirSize,
                 EventType.Repaint
             );
-#endif
+
         }
     }
+#endif
 }
 
 

Runtime/Components/SMRMapper.cs

@@ -13,17 +13,19 @@ public class SMRMapper : MonoBehaviour
 
     public void Read()
     {
+        if (!skinnedMeshRenderer) skinnedMeshRenderer = GetComponent<SkinnedMeshRenderer>();
         bones = skinnedMeshRenderer.bones;
     }
     public void Write()
     {
+        if (!skinnedMeshRenderer) skinnedMeshRenderer = GetComponent<SkinnedMeshRenderer>();
         skinnedMeshRenderer.bones = bones;
     }
 
 }
 
 #if UNITY_EDITOR
-[CustomEditor(typeof(SMRMapper))]
+[CustomEditor(typeof(SMRMapper)), CanEditMultipleObjects]
 public class SMRMapperEditor : Editor
 {
     public override void OnInspectorGUI()

Runtime/Helpers/PhysHelpers.cs

@@ -481,7 +481,7 @@ public static void SetBonePhysics(SlaveBoneModel bone, bool enabled)
         {
             if (bone.rigidbodyRef)
             {
-                if (bone.rigidbodyRef.isKinematic)
+                if (enabled)
                 {
                     bone.rigidbodyRef.isKinematic = false;
                     bone.rigidbodyRef.collisionDetectionMode = CollisionDetectionMode.ContinuousDynamic;

Runtime/Input/AbstractTsf.cs

@@ -0,0 +1,90 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace HPTK.Input
+{
+    [Serializable]
+    public class AbstractTsf
+    {
+        public string name;
+
+        public Vector3 position;
+        public Quaternion rotation;
+        public Space space;
+
+        public Vector3 localScale;
+
+        public AbstractTsf(Vector3 position, Quaternion rotation, Space space, Vector3 localScale, string name)
+        {
+            this.position = position;
+            this.rotation = rotation;
+            this.space = space;
+
+            this.localScale = localScale;
+            this.name = name;
+        }
+
+        public AbstractTsf(string name, Space space)
+        {
+            this.space = space;
+            this.name = name;
+            this.position = Vector3.zero;
+            this.rotation = Quaternion.identity;
+            this.localScale = Vector3.one;
+        }
+
+        public AbstractTsf(Transform tsf, Space space)
+        {
+            this.name = tsf.name;
+            this.space = space;
+
+            if (space == Space.World)
+            {
+                this.position = tsf.position;
+                this.rotation = tsf.rotation;
+            }
+            else
+            {
+                this.position = tsf.localPosition;
+                this.rotation = tsf.localRotation;
+            }
+
+            this.localScale = tsf.localScale;
+        }
+
+        public AbstractTsf(AbstractTsf abstractTsf)
+        {
+            this.name = abstractTsf.name;
+            this.space = abstractTsf.space;
+            this.position = abstractTsf.position;
+            this.rotation = abstractTsf.rotation;
+        }
+
+        public static void Copy(AbstractTsf from, AbstractTsf to)
+        {
+            to.name = from.name;
+            to.space = from.space;
+            to.position = from.position;
+            to.rotation = from.rotation;
+            to.localScale = from.localScale;
+        }
+
+        public static void ApplyTransform(AbstractTsf bonePose, Transform receiverTsf)
+        {
+            if (bonePose.space == Space.World)
+            {
+                receiverTsf.position = bonePose.position;
+                receiverTsf.rotation = bonePose.rotation;
+            }
+            else
+            {
+                receiverTsf.localPosition = bonePose.position;
+                receiverTsf.localRotation = bonePose.rotation;
+            }
+
+            receiverTsf.localScale = bonePose.localScale;
+        }
+    }
+}